相关论文: PRIMAL: Physically Reactive and Interactive Motor …

Multi-agent path finding (MAPF) is an essential component of many large-scale, real-world robot deployments, from aerial swarms to warehouse automation. However, despite the community's continued efforts, most state-of-the-art MAPF planners…

The development of autonomous tool-use agents for complex, long-horizon tasks in collaboration with human users has become the frontier of agentic research. During multi-turn Human-AI interactions, the dynamic and uncertain nature of user…

Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…

We describe an ongoing project in learning to perform primitive actions from demonstrations using an interactive interface. In our previous work, we have used demonstrations captured from humans performing actions as training samples for a…

Video-driven 3D facial animation transfer aims to drive avatars to reproduce the expressions of actors. Existing methods have achieved remarkable results by constraining both geometric and perceptual consistency. However, geometric…

Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…

Unsupervised generation of clothed virtual humans with various appearance and animatable poses is important for creating 3D human avatars and other AR/VR applications. Existing methods are either limited to rigid object modeling, or not…

Synthesizing graceful and life-like behaviors for physically simulated characters has been a fundamental challenge in computer animation. Data-driven methods that leverage motion tracking are a prominent class of techniques for producing…

Our goal is to enable social robots to interact autonomously with humans in a realistic, engaging, and expressive manner. The 12 Principles of Animation are a well-established framework animators use to create movements that make characters…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

The way we perceive the world fundamentally shapes how we move, whether it is how we navigate in a room or how we interact with other humans. Current human motion generation methods, neglect this interdependency and use task-specific…

Talking head generation creates lifelike avatars from static portraits for virtual communication and content creation. However, current models do not yet convey the feeling of truly interactive communication, often generating one-way…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

Preference-based reinforcement learning (PbRL) has emerged as a promising paradigm for teaching robots complex behaviors without reward engineering. However, its effectiveness is often limited by two critical challenges: the reliance on…

Digital humans and, especially, 3D facial avatars have raised a lot of attention in the past years, as they are the backbone of several applications like immersive telepresence in AR or VR. Despite the progress, facial avatars reconstructed…

We present Primal, a deterministic feature mapping framework that harnesses the number-theoretic independence of prime square roots to construct robust, tunable vector representations. Diverging from standard stochastic projections (e.g.,…

Pretrained foundation models have become an important basis for end-to-end autonomous driving. In contrast to vision-language models pretrained primarily on static image-text pairs, video generative models capture temporal dynamics and…

The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Existing neural rendering methods for creating human avatars typically either require dense input signals such as video or multi-view images, or leverage a learned prior from large-scale specific 3D human datasets such that reconstruction…